Mitsubishi Electric CR800-R - Page 121

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Maximum Stopping Time and Maximum Operating Angle 7-109
RH-6FRH
Stopping time and stopping distance (emergency stop)
Axis Arm extension Load rate
Stopping time [s]
Stopping distance
J1/J2/J4 axis [deg]
J3 axis [mm]
Ovrd 33%
Ovrd 66%
Ovrd 100%
Ovrd 33%
Ovrd 66%
Ovrd 100%
J1
L=100%
M=100%
0.37
0.45
0.53
17.52
42.29
75.40
M=66%
0.38
0.48
0.59
23.82
60.26
111.01
M=33%
0.38
0.49
0.62
26.38
68.45
128.19
M=0%
0.36
0.48
0.60
25.32
66.31
124.96
L=66%
M=100%
0.34
0.42
0.50
16.37
39.99
71.92
M=66%
0.36
0.46
0.57
22.49
57.60
106.98
M=33%
0.36
0.48
0.60
25.13
65.94
124.40
M=0%
0.34
0.46
0.59
24.32
64.33
121.95
L=33%
M=100%
0.32
0.40
0.49
15.53
38.32
69.38
M=66%
0.34
0.45
0.56
21.56
55.73
104.15
M=33%
0.35
0.46
0.59
24.40
64.48
122.18
M=0%
0.34
0.46
0.58
23.93
63.54
120.75
J2 -
M=100%
0.26
0.33
0.40
21.67
53.48
96.84
M=66%
0.27
0.36
0.45
29.47
76.60
143.62
M=33%
0.27
0.37
0.47
32.38
86.65
165.46
M=0%
0.25
0.35
0.45
30.63
83.15
160.15
J3 -
M=100%
0.25
0.32
0.39
95.89
241.91
444.79
M=66%
0.23
0.31
0.39
96.81
250.11
467.14
M=33%
0.22
0.30
0.38
95.41
253.54
482.08
M=0%
0.23
0.30
0.39
98.83
260.38
492.44
J4 -
Load 2
0.33
0.36
0.39
49.79
107.14
174.13
Load 1
0.31
0.37
0.43
104.53
246.80
432.85
Stopping time and stopping distance (power off)
Axis Arm extension Load rate
Stopping time [s]
Stopping distance [deg]
Ovrd 100%
Ovrd 100%
J1 L=100%
M=100%
0.53
71.40
M=50%
0.65
95.48
J2 L=100%
M=100%
0.43
83.44
M=50%
0.46
119.56
J3 -
M=100%
0.09
53.34
M=50%
0.10
145.88
J4 -
Load 2
0.94
340.61
Load 1
0.50
377.44